345 lines
9.9 KiB
C++
345 lines
9.9 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/*
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* BASIC EVENTS AND MOUNT STATES DEFINITIONS (REFERENCE IMPLEMENTATION)
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*
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*/
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#include "mount.h"
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namespace mcc
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{
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namespace traits
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{
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template <typename T>
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concept mcc_mount_c = requires {
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requires std::same_as<const MccMountType, decltype(T::mountType)>;
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typename T::mount_config_t;
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requires std::derived_from<T, MccMount<T::mountType, typename T::mount_config_t>>;
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};
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} // namespace traits
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/* MOUNT STATE MACHINE STATES */
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// a base class for mount state machine events
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template <traits::mcc_mount_c MountT>
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class MccMountEventBase
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{
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protected:
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typedef MountT mount_t;
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MccMountEventBase(mount_t& mount) : _mount(mount) {}
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virtual ~MccMountEventBase() = default;
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mount_t& mount() const
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{
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return _mount;
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}
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mount_t& _mount;
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};
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// transit to IDLE state
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template <traits::mcc_mount_c MountT>
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struct MccMountEventIDLE : public MccMountEventBase<MountT> {
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typedef MccMountEventBase<MountT> base_t;
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static constexpr std::string_view ID = "MCC-MOUNT-IDLE-EVENT";
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// CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
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// so, one must explicitly define constructor here
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MccMountEventIDLE(MountT& mount) : base_t(mount) {}
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};
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// transit to initialization state
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template <traits::mcc_mount_c MountT>
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struct MccMountEventInit : public MccMountEventBase<MountT> {
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typedef MccMountEventBase<MountT> base_t;
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static constexpr std::string_view ID = "MCC-MOUNT-INIT-EVENT";
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// CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
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// so, one must explicitly define constructor here
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MccMountEventInit(MountT& mount) : base_t(mount) {}
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};
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// transit to error state
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template <traits::mcc_mount_c MountT>
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struct MccMountEventError : public MccMountEventBase<MountT> {
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typedef MccMountEventBase<MountT> base_t;
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static constexpr std::string_view ID = "MCC-MOUNT-ERROR-EVENT";
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using event_data_t = std::error_code;
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event_data_t eventData() const
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{
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return _error;
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}
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MccMountEventError(MountT& mount, const event_data_t& error) : base_t(mount), _error(error) {}
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protected:
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event_data_t _error;
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};
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// transit to slew state
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template <traits::mcc_mount_c MountT>
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struct MccMountEventSlew : public MccMountEventBase<MountT> {
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typedef MccMountEventBase<MountT> base_t;
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static constexpr std::string_view ID = "MCC-MOUNT-SLEW-EVENT";
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struct event_data_t {
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MccCoordPairKind kind{MccCoordPairKind::COORDS_KIND_RADEC_IRCS};
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MccAngle x{0.0}, y{0.0};
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bool stop{false}; // stop after slewing: if false - start guiding
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};
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event_data_t eventData() const
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{
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return _eventData;
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}
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MccMountEventSlew(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
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protected:
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event_data_t _eventData;
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};
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// transit to guiding state
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template <traits::mcc_mount_c MountT>
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struct MccMountEventGuiding : public MccMountEventBase<MountT> {
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typedef MccMountEventBase<MountT> base_t;
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static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-EVENT";
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// CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
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// so, one must explicitly define constructor here
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MccMountEventGuiding(MountT& mount) : base_t(mount) {}
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};
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// transit to stop state
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template <traits::mcc_mount_c MountT>
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struct MccMountEventStop : public MccMountEventBase<MountT> {
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typedef MccMountEventBase<MountT> base_t;
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static constexpr std::string_view ID = "MCC-MOUNT-STOP-EVENT";
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enum event_data_t {
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EVENT_STOP_CLIENT, // software stop (mount client)
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EVENT_STOP_BUTTON // hardware button
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};
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event_data_t eventData() const
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{
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return _reason;
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}
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MccMountEventStop(MountT& mount, event_data_t reason) : base_t(mount), _reason(reason) {}
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protected:
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event_data_t _reason;
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};
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// transit to shutdown state
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template <traits::mcc_mount_c MountT>
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struct MccMountEventShutdown : public MccMountEventBase<MountT> {
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typedef MccMountEventBase<MountT> base_t;
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static constexpr std::string_view ID = "MCC-MOUNT-SHUTDOWN-EVENT";
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// CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
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// so, one must explicitly define constructor here
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MccMountEventShutdown(MountT& mount) : base_t(mount) {}
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};
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/* MOUNT STATE MACHINE STATES */
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template <traits::mcc_mount_c MountT>
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struct MccMountStateBase {
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void exit(this auto&& self, EvT& event)
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{
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using self_t = std::remove_cvref_t<decltype(self)>;
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std::forward<decltype(self)>(self).exitImpl(event);
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event.mount().logDebug("Exit from '{}' state due to '{}' event ...", self_t::ID, EvT::ID);
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}
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void enter(this auto&& self, EvT& event)
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{
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using self_t = std::remove_cvref_t<decltype(self)>;
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event.mount().logDebug("Enter to '{}' state due to '{}' event ...", self_t::ID, EvT::ID);
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std::forward<decltype(self)>(self).enterImpl(event);
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}
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protected:
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void exitImpl(EvT& event)
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{
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event.mount().logWarning("Call an empty MccMountStateBase::exitImpl method!!! Event type is '{}'", EvT::ID);
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}
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void enterImpl(EvT& event)
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{
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event.mount().logWarning("Call an empty MccMountStateBase::enterImpl method!!! Event type is '{}'", EvT::ID);
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}
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};
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// just forward declarations
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template <traits::mcc_mount_c MountT>
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struct MccMountStateIDLE;
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template <traits::mcc_mount_c MountT>
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struct MccMountStateInit;
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template <traits::mcc_mount_c MountT>
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struct MccMountStateError;
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template <traits::mcc_mount_c MountT>
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struct MccMountStateSlew;
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template <traits::mcc_mount_c MountT>
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struct MccMountStateStop;
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template <traits::mcc_mount_c MountT>
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struct MccMountStateGuiding;
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template <traits::mcc_mount_c MountT>
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struct MccMountStateShutdown;
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// initialization state
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template <traits::mcc_mount_c MountT>
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struct MccMountStateInit : MccMountStateBase<MountT> {
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static constexpr std::string_view ID = "MCC-MOUNT-INIT-STATE";
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using transition_t = fsm::fsm_transition_table_t<std::pair<MccMountEventIDLE<MountT>, MccMountStateIDLE<MountT>>>;
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protected:
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void exitImpl(MccMountEventIDLE<MountT>& event)
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{
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// normal exit from the state
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}
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void enterImpl(EvT& event)
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{
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event.mount().initMount();
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// switch to IDLE state
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event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>();
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}
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};
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template <traits::mcc_mount_c MountT>
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struct MccMountStateError : MccMountStateBase<MountT> {
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static constexpr std::string_view ID = "MCC-MOUNT-ERROR-STATE";
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using transition_t = fsm::fsm_transition_table_t<
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std::pair<MccMountEventIDLE<MountT>, MccMountStateIDLE<MountT>>, // ???? after error correction?
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std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>,
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std::pair<MccMountEventError<MountT>, MccMountStateError<MountT>>,
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std::pair<MccMountEventSlew<MountT>, MccMountStateError<MountT>>,
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std::pair<MccMountEventGuiding<MountT>, MccMountStateError<MountT>>,
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std::pair<MccMountEventStop<MountT>, MccMountStateError<MountT>>,
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std::pair<MccMountEventShutdown<MountT>, MccMountStateShutdown<MountT>>>;
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protected:
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void exitImpl(EvT& event)
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{
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event.mount().logWarning(
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"The mount is in the error state!!! One must correct it before transit to any states! Event type is '{}'",
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EvT::ID);
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}
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void exitImpl(MccMountEventIDLE<MountT>& event)
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{
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event.mount().logWarning("Suppose the error was corrected!");
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}
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void exitImpl(MccMountEventInit<MountT>& event)
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{
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// normal exit from the state
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}
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void enterImpl(EvT& event)
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{
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auto err = event.eventData();
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event.mount().logError("The mount is in the error state: code = {}, category = {}, message = '{}'", err.value(),
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err.category().name(), err.message());
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}
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};
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template <traits::mcc_mount_c MountT>
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struct MccMountStateIDLE : MccMountStateBase<MountT> {
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static constexpr std::string_view ID = "MCC-MOUNT-IDLE-STATE";
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using transition_t =
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fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>,
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std::pair<MccMountEventError<MountT>, MccMountStateError<MountT>>,
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std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
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std::pair<MccMountEventGuiding<MountT>, MccMountStateGuiding<MountT>>,
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std::pair<MccMountEventStop<MountT>, MccMountStateIDLE<MountT>>,
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std::pair<MccMountEventShutdown<MountT>, MccMountStateShutdown<MountT>>>;
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};
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template <traits::mcc_mount_c MountT>
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struct MccMountStateShutdown : MccMountStateBase<MountT> {
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static constexpr std::string_view ID = "MCC-MOUNT-SHUTDOWN-STATE";
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using transition_t =
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fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>,
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std::pair<MccMountEventError<MountT>, MccMountStateError<MountT>>,
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std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
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std::pair<MccMountEventGuiding<MountT>, MccMountStateGuiding<MountT>>,
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std::pair<MccMountEventStop<MountT>, MccMountStateIDLE<MountT>>,
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std::pair<MccMountEventShutdown<MountT>, MccMountStateShutdown<MountT>>>;
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};
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} // namespace mcc
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